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Static layer works with rolling window now #246

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Static layer works with rolling window now #246

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reinzor
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@reinzor reinzor commented Sep 3, 2014

Fixes #197

@DLu
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DLu commented Sep 3, 2014

Awesome. Thanks for this commit. I will test it out soon.

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DLu commented Oct 24, 2014

What happened to your navigation fork?

DLu
DLu reviewed Oct 24, 2014
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costmap_2d/plugins/static_layer.cpp
resizeMap(master->getSizeInCellsX(), master->getSizeInCellsY(), master->getResolution(),
master->getOriginX(), master->getOriginY());
}

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This was removed because it is already implemented in costmap_layer.cpp, correct?

@bfalacerda bfalacerda mentioned this pull request Dec 4, 2014
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@mikeferguson
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I'm closing this since we can no longer merge it -- recommend that someone involved create a new PR.

This was referenced Mar 27, 2015
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@corot
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corot commented Jun 1, 2017 •
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Hi, I'm also using static_layer on a rolling window costmap, on Kinetic; thanks @reinzor!
But I have an issue: obstacles appear in the upper and left borders of the local costmap:
image

I can "fix" it with this hack on line 325

        if (!i || !j)
        {
          master_grid.setCost(i, j, 0);
          continue;
        }

Any idea why can this happen? I have verified that the rolling window costmaps are fully reset at each iteration, so I bet this fake obstacles are a byproduct or moving memory blocks as the robot moves.

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reinzor commented Jun 2, 2017

Hi @corot , I am currently not actively using the stack and/or developing. Cannot help you with this at this moment.

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4 participants
@reinzor @DLu @mikeferguson @corot